#include <JointCommandInterface.h>
Classes | |
| class | IoFunctions |
Public Member Functions | |
| virtual r2_msgs::JointCapability | getCapability ()=0 |
| virtual r2_msgs::JointCommand | getCommandedState ()=0 |
| virtual sensor_msgs::JointState | getCompleteMeasuredState ()=0 |
| virtual sensor_msgs::JointState | getSimpleMeasuredState ()=0 |
| virtual void | loadCoeffs ()=0 |
| virtual void | setCommand (r2_msgs::JointCommand msg, r2_msgs::JointControlData control)=0 |
| virtual void | updateMeasuredState (r2_msgs::JointControlData msg)=0 |
Public Attributes | |
| std::string | mechanism |
| std::vector< std::string > | roboDynActuators |
| std::vector< std::string > | roboDynAllJoints |
| std::vector< std::string > | roboDynJoints |
Protected Member Functions | |
| JointCommandInterface (const std::string &mechanism, IoFunctions io) | |
| virtual | ~JointCommandInterface () |
Protected Attributes | |
| r2_msgs::JointCommand | commandedStateMsg |
| sensor_msgs::JointState | completeMeasuredStateMsg |
| IoFunctions | io |
| r2_msgs::JointCapability | jointCapabilityMsg |
| sensor_msgs::JointState | simpleMeasuredStateMsg |
Detailed Description
Definition at line 21 of file JointCommandInterface.h.
Constructor & Destructor Documentation
| JointCommandInterface::JointCommandInterface | ( | const std::string & | mechanism, |
| IoFunctions | io | ||
| ) | [inline, protected] |
Definition at line 72 of file JointCommandInterface.h.
| virtual JointCommandInterface::~JointCommandInterface | ( | ) | [inline, protected, virtual] |
Definition at line 75 of file JointCommandInterface.h.
Member Function Documentation
| virtual r2_msgs::JointCapability JointCommandInterface::getCapability | ( | ) | [pure virtual] |
Implemented in JointCommandFinger< N, NHall >, JointCommandWrist, JointCommandSeriesElastic, JointCommandGripper, and JointCommandRigid.
| virtual r2_msgs::JointCommand JointCommandInterface::getCommandedState | ( | ) | [pure virtual] |
Implemented in JointCommandFinger< N, NHall >, JointCommandWrist, JointCommandSeriesElastic, JointCommandGripper, and JointCommandRigid.
| virtual sensor_msgs::JointState JointCommandInterface::getCompleteMeasuredState | ( | ) | [pure virtual] |
Implemented in JointCommandFinger< N, NHall >, JointCommandWrist, JointCommandSeriesElastic, JointCommandGripper, and JointCommandRigid.
| virtual sensor_msgs::JointState JointCommandInterface::getSimpleMeasuredState | ( | ) | [pure virtual] |
Implemented in JointCommandFinger< N, NHall >, JointCommandWrist, JointCommandSeriesElastic, JointCommandGripper, and JointCommandRigid.
| virtual void JointCommandInterface::loadCoeffs | ( | ) | [pure virtual] |
Implemented in JointCommandFinger< N, NHall >, JointCommandWrist, JointCommandSeriesElastic, JointCommandGripper, and JointCommandRigid.
| virtual void JointCommandInterface::setCommand | ( | r2_msgs::JointCommand | msg, |
| r2_msgs::JointControlData | control | ||
| ) | [pure virtual] |
Implemented in JointCommandFinger< N, NHall >, JointCommandWrist, JointCommandSeriesElastic, JointCommandGripper, and JointCommandRigid.
| virtual void JointCommandInterface::updateMeasuredState | ( | r2_msgs::JointControlData | msg | ) | [pure virtual] |
Implemented in JointCommandFinger< N, NHall >, JointCommandWrist, JointCommandSeriesElastic, JointCommandGripper, and JointCommandRigid.
Member Data Documentation
r2_msgs::JointCommand JointCommandInterface::commandedStateMsg [protected] |
Definition at line 81 of file JointCommandInterface.h.
sensor_msgs::JointState JointCommandInterface::completeMeasuredStateMsg [protected] |
Definition at line 80 of file JointCommandInterface.h.
IoFunctions JointCommandInterface::io [protected] |
Definition at line 75 of file JointCommandInterface.h.
r2_msgs::JointCapability JointCommandInterface::jointCapabilityMsg [protected] |
Definition at line 82 of file JointCommandInterface.h.
| std::string JointCommandInterface::mechanism |
Definition at line 67 of file JointCommandInterface.h.
| std::vector<std::string> JointCommandInterface::roboDynActuators |
Definition at line 69 of file JointCommandInterface.h.
| std::vector<std::string> JointCommandInterface::roboDynAllJoints |
Definition at line 68 of file JointCommandInterface.h.
| std::vector<std::string> JointCommandInterface::roboDynJoints |
Definition at line 68 of file JointCommandInterface.h.
sensor_msgs::JointState JointCommandInterface::simpleMeasuredStateMsg [protected] |
Definition at line 79 of file JointCommandInterface.h.
The documentation for this class was generated from the following file: